Flat integrated harmonic speed reducer apparatus for built-in electric motor

Abstract

The invention discloses a flat integrated harmonic speed reducer apparatus for a built-in electric motor, and aims to solve the problems of relatively large overall sizes of a speed reducer and a motor, and limited application range caused by the fact that the current motor is externally connected with the harmonic speed reducer generally. The flat integrated harmonic speed reducer apparatus comprises a front end cover, a back end cover, a motor stator, a stator coil, permanent magnetic steel, an integrated cam rotor, a first connecting bearing, a harmonic steel wheel, a flexible bearing, an integrated flexible wheel matched with the front end cover, and a crossed roller bearing, wherein the front end cover comprises an annular cover body, and a hollow connecting shaft connected with the annular cover body. According to the flat integrated harmonic speed reducer apparatus, the speed reducer cam and the motor rotor adopt the integrated design; the cam is directly driven by the motor rotor to turn, so that the equipment structure is effectively simplified, and the equipment cost is lowered; meanwhile, the apparatus adopts the flat design, so that the axial length of the speed reducer is effectively shortened; the phenomenon of insufficient axial installation space of the speed reducer can be solved; and the axial applicability of the product is improved.

Description

technical field [0001] The invention relates to the field of mechanical equipment, in particular to the field of harmonic reducers, in particular to a flat integrated harmonic reducer device with a built-in motor. The invention can effectively reduce the volume of the harmonic deceleration device, can be widely used in industrial robots, machinery, medical equipment, machine tools, servo systems, household robots, service robots, electronic equipment and other fields, and has good application prospects. Background technique [0002] Chinese invention patent CN201410845287.8 discloses a combined harmonic gear motor integrated machine, which includes an integrally connected motor and a reducer. In this solution, the speed reducer includes a multi-stage harmonic speed reduction device driven sequentially. In this scheme, on the basis of the first-level harmonic deceleration, one or more levels of harmonic deceleration is added according to the needs of the deceleration ratio, ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a flat integrated harmonic reducer device with a built-in motor in view of the problems that the current motor is usually connected externally to the harmonic reducer, resulting in the overall size of the reducer and the motor being too large and the application range limited

The invention adopts a flat design, which can effectively solve the problem that the overall size of the existing reducer and the motor is too large, and at the same time effectively reduce the overall weight and expand the use range of the harmonic reducer

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